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Humans tend to build environments with structure, which consists of mainly planar surfaces. From the intersection of planar surfaces arise straight lines. Lines have more degrees-of-freedom than points. Thus, line-based…
The ability to explain decisions made by machine learning models remains one of the most significant hurdles towards widespread adoption of AI in highly sensitive areas such as medicine, cybersecurity or autonomous driving. Great interest…
We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that…
In surveys, the interest lies in estimating finite population parameters such as population totals and means. In most surveys, some auxiliary information is available at the estimation stage. This information may be incorporated in the…
Localised patterns are often observed in models for dryland vegetation, both as peaks of vegetation in a desert state and as gaps within a vegetated state, known as `fairy circles'. Recent results from radial spatial dynamics show that…
We consider exploration tasks in which an autonomous mobile robot incrementally builds maps of initially unknown indoor environments. In such tasks, the robot makes a sequence of decisions on where to move next that, usually, are based on…
Noisy probabilistic relational rules are a promising world model representation for several reasons. They are compact and generalize over world instantiations. They are usually interpretable and they can be learned effectively from the…
Familiarity with a simulation platform can seduce modellers into accepting untested assumptions for convenience of implementation. These assumptions may have consequences greater than commonly suspected, and it is important that modellers…
Place recognition is essential to maintain global consistency in large-scale localization systems. While research in urban environments has progressed significantly using LiDARs or cameras, applications in natural forest-like environments…
Urban wind flow modeling and simulation play an important role in air quality assessment and sustainable city planning. A key challenge for modeling and simulation is handling the complex geometries of the urban landscape. Low order models…
A substantial share of the Earth's land surface is managed by humans, with cities representing the most extreme form of anthropogenic land use. There are zillion ways in which settlements can be arranged across a given area, and their…
The vitality of urban spaces has been steadily undermined by the pervasive adoption of car-centric forms of urban development as characterised by lower densities, street networks offering poor connectivity for pedestrians, and a lack of…
Using LLMs not to predict plans but to formalize an environment into the Planning Domain Definition Language (PDDL) has been shown to improve performance and control. While most existing methodology only applies to fully observable…
Mapping people dynamics is a crucial skill for robots, because it enables them to coexist in human-inhabited environments. However, learning a model of people dynamics is a time consuming process which requires observation of large amount…
Machine learning techniques are being increasingly used as flexible non-linear fitting and prediction tools in the physical sciences. Fitting functions that exhibit multiple solutions as local minima can be analysed in terms of the…
Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…
Terrains are visually important and commonly used in computer graphics. While many algorithms for their generation exist, it is difficult to assess the realism of a generated terrain. This paper presents a first step in the direction of…
We model the spatial dynamics of a forest stand by using a special class of spatio-temporal point processes, the sequential spatial point process, where the spatial dimension is parameterized and the time component is atomic. The sequential…
The movement of pedestrians is supposed to show certain regularities which can be best described by an ``algorithm'' for the individual behavior and is easily simulated on computers. This behavior is assumed to be determined by an intended…
Pedestrians and vehicles often share the road in complex inner city traffic. This leads to interactions between the vehicle and pedestrians, with each affecting the other's motion. In order to create robust methods to reason about…